CN110217231A - Controller of vehicle, control method for vehicle and storage medium - Google Patents

Abstract

It is a kind of can according to vehicle, whether there is or not passengers to shorten the controller of vehicle, control method for vehicle and storage medium of traveling time to carry out urgent acceleration and deceleration, controller of vehicle has: identifying the identification part (130) of the situation on the periphery of this vehicle；And the drive control section of one or both (140,160) in the steering and acceleration and deceleration of this vehicle is controlled based on the recognition result of the identification part, it identifies by the identification part in the case where described vehicle has taken passenger, decision of the drive control section without the working morphology of the control of the acceleration and deceleration, identifying that the drive control section determines the working morphology of the control of the acceleration and deceleration based on the state of other vehicles on the periphery for being present in described vehicle in the case where described vehicle does not take passenger by the identification part.

Description

Controller of vehicle, control method for vehicle and storage medium

Technical field

The present invention relates to controller of vehicle, control method for vehicle and storage mediums.

Background technique

In recent years, the driving (hereinafter referred to as automatic Pilot) for automatically controlling vehicle is studied.It is related to this, The skill of fuel economy is improved it has been known that there is progress inertia traveling in the case where not taking passenger in the vehicle by automatic Pilot Art (for example, Japanese Unexamined Patent Publication 2017-061287 bulletin).

Subject to be solved by the invention

Here, in the case where not taking passenger by the vehicle of automatic Pilot, sometimes without considering the seating of passenger The traveling of comfort, and urgent acceleration and deceleration are carried out so that traveling time can be shortened.However, allowing in previous technology According to vehicle, whether there is or not passenger carries out inertia traveling, is also unable to reach and carries out urgent acceleration and deceleration.

Summary of the invention

The present invention is to consider such situation and complete, and one of its goals is to providing one kind can be according to vehicle Whether there is or not passengers to shorten the controller of vehicle, control method for vehicle and storage medium of traveling time to carry out urgent acceleration and deceleration.

Solution for solving the problem

Controller of vehicle, control method for vehicle and storage medium according to the present invention use structure below.

(1): controller of vehicle involved in a scheme of the invention has: identification part identifies the week of this vehicle The situation on side；And drive control section, the steering and acceleration and deceleration of this vehicle are controlled based on the recognition result of the identification part In one or both, identified by the identification part taken passenger in described vehicle in the case where, driving control Decision of the portion processed without the working morphology of the control of the acceleration and deceleration is being identified in described vehicle not by the identification part In the case where taking passenger, the drive control section is based on the periphery for being present in described vehicle identified by the identification part The states of other vehicles determine the working morphology of the control of the acceleration and deceleration.

(2): in the scheme of above-mentioned (1), the feelings for not taking passenger in described vehicle are being identified by the identification part Under condition, the drive control section determines the acceleration and deceleration based on the state of other vehicles on the periphery for being present in described vehicle Control working morphology.

(3): in the scheme of above-mentioned (1) or (2), identifying that other described vehicles are automatic Pilots by the identification part It is described compared with identifying the case where other described vehicles are not automatic driving vehicles by the identification part in the case where vehicle The working morphology that drive control section keeps the limitation of the working morphology acceleration and deceleration loose.

(4): in the scheme of above-mentioned (1)~(3), identifying that other described vehicles are automatic Pilots by the identification part In the case where vehicle, the drive control section has taken passenger based on whether being identified in other described vehicles by the identification part To determine the working morphology.

(5): in the scheme of above-mentioned (4), identifying that other described vehicles are automatic driving vehicles by the identification part In the case where, when not taking passenger in identifying other described vehicles by the identification part, and taken in other described vehicles It is compared when having passenger, the working morphology that the drive control section keeps the limitation of the working morphology acceleration and deceleration loose.

(6): in the scheme of above-mentioned (1)~(5), not deposited being identified by the identification part on the periphery of described vehicle In the case where other described vehicles, the drive control section keeps the limitation of the working morphology acceleration and deceleration most loose Working morphology.

(7): in the scheme of above-mentioned (1)~(6), the controller of vehicle is also equipped with traveling plan generating unit, the row It sails plan generating unit and generates the traveling plan preferentially travelled on following path, the path is can be with the limit of the acceleration and deceleration The path of loose working morphology traveling is made, the drive control section is based on the row generated by the traveling plan generating unit Plan is sailed to control described vehicle.

(8): in the scheme of above-mentioned (7), road that the traveling plan generating unit preferentially selects the quantity of other vehicles few Diameter.

(9): in the scheme of above-mentioned (7) or (8), the frequency that the traveling plan generating unit preferentially selects left and right to turn is low Path.

(10): in the scheme of above-mentioned (1)~(9), just by the drive control section it is wide with the limitation of the acceleration and deceleration In the case that the working morphology of pine is controlled, with work not loose with the limitation of the acceleration and deceleration by the drive control section The case where form is controlled is compared, and the identification part inhibits identifying processing.

(11): a kind of controller of vehicle has: identification part identifies the situation on the periphery of this vehicle；And it drives Control unit controls one or both in the steering and acceleration and deceleration of this vehicle based on the recognition result of the identification part, In the case where just by the drive control section with the loose working morphology control acceleration and deceleration of the limitation of the acceleration and deceleration, and not by institute It states the case where drive control section controls acceleration and deceleration with the loose working morphology of the limitation of the acceleration and deceleration to compare, the identification part suppression Identifying processing processed.

(12): controller of vehicle is handled as follows in a kind of control method for vehicle: identifying the periphery of this vehicle Situation；One or both in the steering and acceleration and deceleration of this vehicle is controlled based on the result of the identification；And based on presence The working morphology of the control of the acceleration and deceleration is determined in the state of other vehicles on the periphery of described vehicle.

(13): controller of vehicle is handled as follows in a kind of storage medium: identifying the shape on the periphery of this vehicle Condition；One or both in the steering and acceleration and deceleration of this vehicle is controlled based on the result of the identification；And based on being present in The state of other vehicles on the periphery of described vehicle determines the working morphology of the control of the acceleration and deceleration.

Invention effect

According to (1)~(13), urgent acceleration and deceleration can be carried out according to the presence or absence of passenger of vehicle and shorten traveling time.

According to the structure of (2), traveling time can be shortened in the case where the passenger of vehicle is not present.

According to the structure of (3), it is able to suppress other vehicle contacts by manual drive with periphery.

According to the structure of (4), traveling time can be shortened while considering other vehicles on periphery.

According to the structure of (5), traveling time can be shortened while in view of the passenger of other vehicles on periphery.

According to the structure of (6), shorten traveling time in the case where passenger can be not present in other vehicles on periphery.

According to the structure of (7), traveling time can be shortened in the case where other vehicles are not present in periphery.

According to the structure of (8)~(10), it can further shorten traveling time.

According to the structure of (11)~(12), the power consumption of this vehicle can be inhibited while shortening traveling time.

Detailed description of the invention

Fig. 1 is the structure chart that the Vehicular system of controller of vehicle involved in embodiment is utilized.

Fig. 2 is the functional structure chart of first control units and the second control unit.

Fig. 3 is the working morphology corresponding with the limits value of feed speed control one for showing the feed speed control of embodiment The table of example.

Fig. 4 be show the acceleration of this vehicle limitation be decided to be working morphology (5) scene an example figure.

Fig. 5 be show the acceleration of this vehicle limitation be decided to be working morphology (5) scene another figure.

Fig. 6 be show the acceleration of this vehicle limitation be decided to be working morphology (2) scene an example figure.

Fig. 7 be show the acceleration of this vehicle limitation be decided to be working morphology (4) scene an example figure.

Fig. 8 be show the acceleration of this vehicle limitation be decided to be working morphology (3) scene an example figure.

Fig. 9 be show the acceleration of this vehicle limitation be decided to be working morphology (1) scene an example figure.

Figure 10 be show the acceleration of this vehicle limitation be decided to be working morphology (1) scene another figure.

Figure 11 is an example for showing a series of process of processing of automatic Pilot control device involved in embodiment Flow chart.

Figure 12 is the figure for showing an example of identification range of identification part.

Figure 13 is the figure for showing an example of the hardware configuration of automatic Pilot control device of embodiment.

Specific embodiment

Hereinafter, being illustrated referring to embodiment of the attached drawing to controller of vehicle and storage medium of the invention.

<embodiment>

[overall structure]

Fig. 1 is the structure chart that the Vehicular system 1 of controller of vehicle involved in embodiment is utilized.Equipped with vehicle The vehicle (hereinafter referred to as this vehicle M) of system 1 is, for example, the vehicle of two wheels, three-wheel, four-wheel etc., and driving source includes diesel engine The internal combustion engines such as machine, petrol engine, motor or their combination.Motor uses the generator by linking with internal combustion engine Generate electricity obtained electric power or secondary cell, fuel cell discharged power acted.In the present embodiment, this vehicle M is by the vehicle of automatic Pilot.

Vehicular system 1 for example has camera 10, radar installations 12, detector 14, object identification device 16, communication device 20, HMI (Human Machine Interface) 30, vehicle sensors 40, navigation device 50, MPU (Map Positioning Unit) 60, driver behavior part 80, automatic Pilot control device 100, traveling drive force output 200, brake apparatus 210 and Transfer 220.These devices, equipment by the multichannel communication multiple telecommunications line such as CAN (Controller Area Network) communication line, Null modem cable, wireless communication networks etc. and interconnect.Structure shown in FIG. 1 is an example, also can be omitted one of structure Point, it can also further add other structures.

Camera 10 is, for example, that CCD (Charge Coupled Device), CMOS (Complementary Metal is utilized Oxide Semiconductor) etc. solid-state imagers digital camera.Camera 10 is installed on any part of this vehicle M.? In the case where shooting front, camera 10 is installed on windscreen top, car room inside rear-view mirror back side etc..Such as period of camera 10 The periphery of this vehicle M is shot to property repeatedly.Camera 10 is also possible to stereoscopic camera.

The electric wave that radar installations 12 radiates the electric waves such as millimeter wave to the periphery of this vehicle M and detection is reflected by object is (anti- Ejected wave) come the position (distance and orientation) of at least detection object.Radar installations 12 is installed on any part of this vehicle M.Radar Device 12 can also be by FM-CW (Frequency Modulated Continuous Wave) mode come the position of detection object It sets and speed.

Detector 14 is LIDAR (Light Detection and Ranging).Detector 14 is to the periphery of this vehicle M Irradiation light simultaneously measures scattering light.Detector 14 detects the distance away from object based on the time from shining light.Illuminated Light is, for example, the laser of pulse type.Detector 14 is installed on any part of this vehicle M.

Object identification device 16 is to the inspection by part or all of detection in camera 10, radar installations 12 and detector 14 It surveys result and carries out sensor fusion treatment, come position, type, the speed etc. for identifying object.Object identification device 16 ties identification Fruit exports to automatic Pilot control device 100.Object identification device 16 can also be by camera 10, radar installations 12 and detector 14 Testing result directly to automatic Pilot control device 100 export.Object identification device 16 can also be omitted from Vehicular system 1.

Communication device 20 for example utilizes Cellular Networks, Wi-Fi net, Bluetooth (registered trademark), DSRC (Dedicated Short Range Communication) etc., other vehicle communications with the periphery for being present in this vehicle M, or via wireless Base station and communicated with various server units.

HMI30 prompts various information to the passenger of this vehicle M and receives to be operated by the input that passenger carries out.HMI30 packet Include various display devices, loudspeaker, buzzer, touch panel, switch, key etc..

Vehicle sensors 40 include the vehicle speed sensor of the speed of detection this vehicle M, the acceleration sensing for detecting acceleration Device, detection around vertical axis angular speed yaw-rate sensor and detect this vehicle M direction aspect sensor Deng.

Navigation device 50 for example has GNSS (Global Navigation Satellite System) receiver 51, leads Navigate HMI52 and path determination section 53.Navigation device 50 is kept in the storage devices such as HDD (Hard Disk Drive), flash memories There is the first cartographic information 54.

GNSS receiver 51 determines the position of this vehicle M based on the signal received from GNSS satellite.The position of this vehicle M Setting can also be determined or be mended by the INS (Inertial Navigation System) of the output of vehicle sensors 40 is utilized It fills.

The HMI52 that navigates includes display device, loudspeaker, touch panel, key etc..Navigate HMI52 can also with it is above-mentioned Part or all of sharing of HMI30.

Path determination section 53 is determined referring for example to the first cartographic information 54 from this vehicle determined by GNSS receiver 51 Path of the position (or the arbitrary position inputted) of M until using the destination of navigation HMI52 input by passenger (hereinafter referred to as map upper pathway).First cartographic information 54 is, for example, the route by indicating road and the node by connection To show the information of road shape.First cartographic information 54 also may include the curvature of road, POI (Point OfInterest) Information etc..Map upper pathway is exported to MPU60.

Navigation device 50 can also carry out having used based on map upper pathway the Route guiding of navigation HMI52.Navigation dress 50 are set to realize such as the function of the smart phone that can also be held by passenger, terminal installation tablet terminal.Navigation dress It sets 50 and can also send current location and destination via 20 navigation server of communication device, obtained and ground from navigation server The same path of figure upper pathway.

MPU60 maintains the second map for example including lane determination section 61 is recommended in the storage devices such as HDD, flash memories Information 62.Recommend lane determination section 61 that the map upper pathway provided from navigation device 50 is divided into multiple sections (for example, in vehicle It is split on direction of travel by 100 [m]), and determine to recommend lane by section referring to the second cartographic information 62.Recommend lane The progress of determination section 61 is travelling this decision from which lane from left to right.The case where there are branch parts for map upper pathway Under, recommend lane determination section 61 so that this vehicle M can be in the side of the reasonable route for advancing to branch destination Formula determines to recommend lane.

Second cartographic information 62 is than the high-precision cartographic information of the first cartographic information 54.Second cartographic information 62 for example wraps Include information or information, the information of the classification in lane on boundary in lane etc. in the center in lane.Second cartographic information 62 can be with Including road information, traffic restricted information, residence information (residence, postcode), facilities information, telephone number information etc..The Two cartographic informations 62 can be communicated with other devices by communication device 20 and are updated at any time.

Driver behavior part 80 is for example including gas pedal, brake pedal, gear lever, steering wheel, special-shaped steering wheel, control stick And other operating parts.The sensor detected to the presence or absence of operating quantity or operation is installed on driver behavior part 80, Testing result is to automatic Pilot control device 100 or travels drive force output 200, brake apparatus 210 and transfer Part or all of output in 220.

Automatic Pilot control device 100 for example has first control units 120, the second control unit 160 and storage unit 180.The One control unit 120 and the second control unit 160 are held such as by processor CPU (Central Processing Unit) respectively Row storage medium (software) Lai Shixian.Part or all in these constituent elements can also pass through LSI (Large Scale Integration)、ASIC(Application Specific Integrated Circuit)、FPGA(Field- Programmable Gate Array), the hardware such as GPU (Graphics Processing Unit) (including circuit portion: Circuitry) Lai Shixian can also be realized by the coordinated of software and hardware.Program can be pre-saved in automatic The storage devices such as the storage unit 180 of steering control device 100, HDD (Hard Disk Drive), flash memories, can also be stored in The assemble and unassemble storage medium such as DVD, CD-ROM, and storage unit is installed on and storage medium is assemblied in driving device 180。

Storage unit 180 for example passes through HDD, flash memories, EEPROM (Electrically Erasable Programmable Read Only Memory), the non-transitory storage mediums such as ROM (Read Only Memory) realize.Storage unit 180 is for example Save the program read and executed by hardware processor.

Fig. 2 is the functional structure chart of first control units 120 and the second control unit 160.First control units 120 for example has knowledge Other portion 130 and action plan generating unit 140.Identification part 130 for example has passenger identification part 131 and other vehicle identification portions 132. Action plan generating unit 140 for example has determination unit 141 and working morphology determination section 142.First control units 120 is for example concurrently Realize the function based on AI (Artificial Intelligence: artificial intelligence) and the function based on the model provided in advance Energy.For example, the function in " identification crosspoint " can be accomplished in that and be performed in parallel based on deep learning etc. to intersection The identification put and the identification based on the condition (there is the signal for capableing of pattern match, road mark etc.) provided in advance, and to double It scores and is synthetically evaluated in side.Thereby, it is possible to ensure the reliability of automatic Pilot.

Identification part 130 is based on the letter inputted from camera 10, radar installations 12 and detector 14 via object identification device 16 Breath, to identify the surrounding condition of this vehicle M.Specifically, the position of the object on periphery of the identification in this vehicle M of identification part 130 It sets and the situations such as speed, acceleration.The position of object is for example as the representative point (center of gravity, shaft center etc.) with this vehicle M It is identified for the position on the absolute coordinate of origin, and be used to control.The position of object can also by the center of gravity of the object, The representatives such as corner point indicates, can also be indicated by the region shown." state " of so-called object also may include object The acceleration of body, acceleration or " status of action " (for example whether just carrying out lane change or to carry out lane change).

Identification part 130 for example identifies the lane (traveling lane) that this vehicle M is being travelled.For example, identification part 130 by pair The pattern (such as arrangement of solid line and dotted line) of the road dividing line obtained from the second cartographic information 62 is shot with from by camera 10 To image recognition go out this vehicle M periphery road dividing line pattern be compared to identification traveling lane.Identification part 130 are not limited to identification road dividing line, can also be by including road dividing line, road shoulder, kerb, central partition, guardrail It is identified Deng traveling roadside circle (road boundary) to identify traveling lane.In the identification, it can also add from navigation device The position of 50 this vehicle M obtained, the processing result handled by INS.The identification of identification part 130 temporarily ceases line, barrier, red Lamp, charge station, other road items.

Identification part 130 identifies position of this vehicle M relative to traveling lane, posture when identifying traveling lane.Identification part 130 for example can also deviation and this vehicle M by the datum mark of this vehicle M from lane center direction of travel relative to by lane The connected obtained line angulation in center is identified as this vehicle M relative to relative position and the posture of traveling lane.? It can replace, any side end (road dividing line of the identification part 130 by the datum mark of this vehicle M relative to traveling lane Or road boundary) position etc. identified as this vehicle M relative to the relative position of traveling lane.

Identification part 130 can also export accuracy of identification in above-mentioned identifying processing and as accuracy of identification information and to row Dynamic plan generating unit 140 exports.For example, identification part 130 is based on the frequency for successfully identifying road dividing line in certain period Rate, Lai Shengcheng accuracy of identification information.The function of passenger identification part 131 and other vehicle identification portions 132 to identification part 130 is rear Narration.

Action plan generating unit 140 generates the target track that this vehicle M is travelled in the future, so as in principle by recommending lane It is travelled on the recommendation lane that determination section 61 determines, and executes automatic Pilot corresponding with the surrounding condition of this vehicle M.Mesh Track is marked for example including velocity element.For example, target track shows as successively arranging the place (track point) that this vehicle M should be reached Track obtained from column.Track point is based on distance on the way every this vehicle M of defined operating range (such as several [m] degree) The place that should be reached, for this additionally, every the target of defined sample time (such as several [sec] degree of zero point) Speed and aimed acceleration as target track a part and generate.To the determination unit 141 and work of action plan generating unit 140 The function of making form determination section 142 is described later.

Second control unit 160 for example has acquisition unit 162, speed controlling portion 164 and course changing control portion 166.Acquisition unit 162 The information of the target track generated by action plan generating unit 140 is obtained, and is stored in memory (not shown).Speed controlling portion 164 based on the incidental velocity element of target track for being stored in memory, to control traveling drive force output 200 or system Dynamic device 210.Course changing control portion 166 controls transfer 220 according to the bending situation for the target track for being stored in memory. The processing in speed controlling portion 164 and course changing control portion 166 is for example realized by the combination of feedforward control and feedback control.As An example, course changing control portion 166 is by feedforward control corresponding with the curvature of the road in the front of this vehicle M and is based on from target track The feedback control of deviation execute in combination.Action plan generating unit 140 and the second control unit 160 are the one of " drive control section " Example.

Traveling drive force output 200 will be used to make the traveling driving force (torque) of vehicle driving to export to driving wheel. The combination such as having internal combustion engine, motor and speed changer of traveling drive force output 200 and the ECU for controlling them. ECU controls above-mentioned knot according to the information inputted from the second control unit 160 or the information inputted from driver behavior part 80 Structure.

Brake apparatus 210 for example has caliper, hydraulic hydraulic cylinder transmitted to caliper, it is hydraulic to generate hydraulic cylinder Electric motor and braking ECU.ECU is braked according to the information inputted from the second control unit 160 or from driver behavior part 80 The information of input controls electric motor, so that braking moment corresponding with brake operating is exported to each wheel.Brake apparatus 210 Can have by by the operation of brake pedal included by driver behavior part 80 generate it is hydraulic via main hydraulic cylinder to liquid The mechanism of cylinder pressure transmitting is as spare.Brake apparatus 210 is not limited to above-mentioned illustrated structure, can also control according to from second The information that portion 160 inputs controls actuator, so that the hydraulic electronic control type transmitted to hydraulic cylinder by main hydraulic cylinder is hydraulic Brake apparatus.

Transfer 220, which for example has, turns to ECU and electric motor.Electric motor for example makes power act on the small tooth of rack gear- Mechanism is taken turns to change the direction of deflecting roller.ECU is turned to according to the information inputted from the second control unit 160 or from driver behavior The information that part 80 inputs drives electric motor, makes the direction change of deflecting roller.

[limitation about feed speed control]

Hereinafter, illustrating the limitation of feed speed control.Fig. 3 is to show the working morphology of the feed speed control of embodiment and add The table of corresponding an example of the limits value of deceleration control.The working morphology determination section 142 of present embodiment is by the plus-minus of this vehicle M The limitation of speed is set as either one in working morphology (1)~(5).In the following description, the acceleration of positive value is taken to indicate to accelerate Degree takes the acceleration of negative value to indicate deceleration.Under working morphology (1), the upper limit value of acceleration is, for example, 0.2 [G], acceleration Lower limit value be, for example, -0.2 [G].Under working morphology (2), the upper limit value of acceleration is, for example, 0.3 [G], the lower limit of acceleration Value for example, -0.25 [G].Under working morphology (3), the upper limit value of acceleration is, for example, 0.25 [G], the lower limit value example of acceleration For example 0.25 [G].Under working morphology (4), the upper limit value of acceleration is, for example, 0.25 [G], and the lower limit value of acceleration is, for example ,- 0.3[G].Under working morphology (5), the upper limit value of acceleration is, for example, 0.4 [G], and the lower limit value of acceleration is, for example, -0.4 [G]。

Therefore, what the upper limit of acceleration was most loose is working morphology (5), by working morphology (2), working morphology (3), work shape State (4), the sequence of working morphology (1) and the upper limit accelerated gradually becomes stringent.The upper limit of deceleration it is most loose be working morphology (5), by working morphology (4), working morphology (2), working morphology (3), working morphology (1) sequence and the upper limit slowed down gradually become Strictly.The upper limit value and lower limit value of acceleration under each working morphology are an examples, are not limited to this.

Working morphology determination section 142 is based on the testing result of each function part and determines result come by the acceleration and deceleration of this vehicle M Limit decision be working morphology (1)~(5).Hereinafter, being illustrated to the details of each function part.Passenger identification part 131 Detect the presence of occupant ride this vehicle M.Passenger the identification part 131 such as testing result of the seating sensor based on seat, side Testing result to the grasping sensor of disk or shooting image that the car of this vehicle M is taken, to identify in this vehicle Passenger has been taken in M or does not take passenger.

The identification of other vehicle identification portions 132 whether there is other vehicles on the periphery of this vehicle M.Other vehicle identification portions 132 for example according to the shooting image on the periphery of this vehicle M taken by camera 10, radar installations 12 testing result or The testing result etc. of detector 14, come identify other vehicles existing for the periphery of this vehicle M there are the case where or be not present The case where.

The case where identification of other vehicle identification portions 132 has taken passenger in other vehicles existing for the periphery of this vehicle M, Or the case where not taking passenger.Other vehicle identification portions 132 are for example based on shown in the shooting image taken as camera 10 The presence or absence of other vehicles and the passenger of other vehicles, to identify the passenger just taken in other vehicles.It is also possible to other vehicles Identification part 132 receives the information for indicating the case where taking passenger in other vehicles by vehicle inter-vehicle communication from other vehicles, The case where identifying the case where having taken passenger in other vehicles or not taking passenger.

The identification of other vehicle identification portions 132 is present in whether other vehicles on the periphery of this vehicle M are by automatic Pilot Vehicle.Expressing for the case where other vehicles being the vehicles by automatic Pilot is for example expressed by identification in other vehicle identification portions 132 Object (for example, situation of the expression in automatic Pilot expresses lamp, display device etc.), to identify that other vehicles are to be driven automatically The case where vehicle sailed or the case where be the vehicle by manual drive.It is also possible to other vehicle identification portions 132 and passes through vehicle Inter-vehicle communication receives the information for indicating the case where other vehicles are the vehicles by automatic Pilot from other vehicles, to identify other vehicles It is the vehicle by automatic Pilot or is by the vehicle of manual drive.

Determination unit 141 determines whether this vehicle M has taken passenger based on the recognition result of passenger identification part 131.Determine Portion 141 is determined on the periphery of this vehicle M based on the recognition result in other vehicle identification portions 132 with the presence or absence of other vehicles.Sentence Determining portion 141 determines whether other vehicles have taken passenger based on the recognition result in other vehicle identification portions 132.Determination unit 141 Determine whether other vehicles are by the vehicle of automatic Pilot based on the recognition result in other vehicle identification portions 132.

Working morphology determination section 142 is based on the judgement of determination unit 141 as a result, to determine the limit of the acceleration and deceleration of this vehicle M It sets up and is set to which of working morphology (1)~(5) working morphology.

[about the scene for being decided to be working morphology (5)]

Fig. 4 be show the acceleration of this vehicle M limitation be decided to be working morphology (5) scene an example figure.? In figure, M indicates this vehicle M.L1 indicates this lane, and L2 indicates the adjacent lane adjacent with this lane L1.LM1 is indicated to this lane The moving direction relative to this vehicle M in two dividing lines that L1 is divided leans on the dividing line in left side, and LM2 is indicated to this vehicle The dividing line of the moving direction relative to this vehicle M in two dividing lines that road L1 is divided on the right side.LM3 is indicated to phase The direction of travel relative to adjacent lane L2 in two dividing lines that adjacent lane L2 is divided leans on the dividing line in left side.The side X To the moving direction for being this vehicle M, Y-direction is the road width direction of this lane L1.

In an example shown in Fig. 4, this vehicle M is the vehicle driven by automatic Pilot, and is not take passenger Vehicle.Recognition result of the determination unit 141 for example based on passenger identification part 131 and be determined as this vehicle M and do not take passenger. In an example shown in Fig. 4, other vehicles are not present on the periphery of this vehicle M.Determination unit 141 is for example in other vehicle identification portions 132 recognition result indicates that in the position away from this vehicle M be shown in defined threshold value (the threshold value Dth1 of diagram) along moving direction Distance position below there is no other vehicles and away from this vehicle M position along the direction opposite with moving direction be rule In the case that other vehicles are not present in distance position below shown in fixed threshold value (the threshold value Dth2 of diagram), it is determined as at this Other vehicles are not present in the periphery of vehicle M.

Threshold value Dth1 be indicate even if from the position of this vehicle M to the range left until the position of threshold value Dth1 it In outer range, in the case that other vehicles have carried out emergency deceleration or emergent stopping etc., this vehicle M also can with not with other The mode of vehicle contact carries out the value of the distance of the degree of emergency deceleration or emergent stopping, e.g. indicates tens~100 more than zero The value of ten [m].Threshold value Dth2 is indicated even if from the position of this vehicle M to the range left until the position of threshold value Dth2 Except in the range of, in the case that this vehicle M carried out emergency deceleration or stopped in emergency etc., other vehicles also can with not and this The value of the distance for the degree that the mode of vehicle M contact stops, e.g. indicating the value of tens~100 [m].

It is so-called to be judged to not taking passenger in this vehicle M by determination unit 141 and other are not present on the periphery of this vehicle M The scene of vehicle is that there is no because of the scene of this vehicle M carries out urgent acceleration and deceleration impacted vehicle.Therefore, by determining Portion 141 is judged to not taking passenger in this vehicle M and there is no the shapes that in the case where other vehicles, works on the periphery of this vehicle M The limit decision of the acceleration and deceleration of this vehicle M is working morphology (5) by state determination section 142.This vehicle M is able to carry out promptly as a result, Acceleration and deceleration, efficiency make velocity variations well, therefore, can shorten to the traveling time until destination.

Then, the other scenes for being decided to be working morphology (5) to the limitation of the acceleration of this vehicle M are illustrated. Fig. 5 be show the acceleration of this vehicle M limitation be decided to be working morphology (5) scene another figure.M in the figure Indicate other vehicles.In an example shown in Fig. 5, in the same manner as situation shown in Fig. 4, this vehicle M is by automatic Pilot Therefore the vehicle driven, and be the vehicle for not taking passenger is judged to not taking in this vehicle M and multiplied by determination unit 141 Visitor.In an example shown in Fig. 5, this vehicle M front and the position of distance Dx1 is had left on the L1 of this lane from this vehicle M Set that there are other vehicles m1.Distance Dx1 is the distance below of distance shown in threshold value Dth1.Such as in other vehicle identification portions 132 recognition result indicate the position away from this vehicle M along moving direction be distance position below shown in threshold value Dth1 ( In this case, having left the position of distance Dx1) there are in the case where other vehicles m1, determination unit 141 is determined as in this vehicle M There are other vehicles m1 in front.In an example shown in Fig. 5, this vehicle M rear and on the L1 of this lane from this vehicle M Having left the position of distance Dx2, there are other vehicles m2.Distance Dx2 is the distance below of distance shown in threshold value Dth2.Such as Recognition result in other vehicle identification portions 132 indicates that in the position away from this vehicle M be threshold along the direction opposite with moving direction There are the feelings of other vehicles m2 for the position below of distance shown in value Dth2 (in this case, having left the position of distance Dx2) Under condition, determination unit 141 is determined as that there are other vehicles m2 at the rear of this vehicle M.In an example shown in Fig. 5, other vehicles M1 and other vehicles m2 is the vehicle driven by automatic Pilot, and is the vehicle for not taking passenger.Determination unit 141 Such as recognition result based on other vehicle identification portions 132 and be judged to not taking in other vehicles m1 and other vehicles m2 and multiply Visitor.

It is so-called be judged to not taking passenger in this vehicle M by determination unit 141 and existed on the periphery of this vehicle M do not take and multiply The scene of other vehicles (being other vehicles m1~m2 in an example) by automatic Pilot of visitor is to exist to cope with this Vehicle M carries out the scene of the vehicle of urgent acceleration and deceleration, and is that the vehicle is coped with the urgent acceleration and deceleration of this vehicle M and do not multiplied to vehicle The scene that visitor has an impact.Therefore, it is driven automatically even if not taking passenger in this vehicle M and existing on the periphery of this vehicle M Other vehicles sailed, when the case where not taking passenger in being determined as other vehicles, working morphology determination section 142 is also by this vehicle The limit decision of the acceleration and deceleration of M is working morphology (5).This vehicle M is able to carry out urgent acceleration and deceleration as a result, and efficiency makes well Velocity variations, therefore the traveling time until destination can be shortened to.

[about the scene for being decided to be working morphology (2)]

Fig. 6 be show the acceleration of this vehicle M limitation be decided to be working morphology (2) scene an example figure.? In an example shown in fig. 6, with Fig. 4~5 shown in the same manner as situation, this vehicle M is the vehicle driven by automatic Pilot, It and is not take the vehicle of passenger, therefore be judged to not taking passenger in this vehicle M by determination unit 141.Shown in Fig. 6 In an example, this vehicle M rear and on the L1 of this lane from this vehicle M have left the position of distance Dx2 there are other vehicles M2 is determined as that there are other vehicles m2 at the rear of this vehicle M by determination unit 141.In an example shown in Fig. 6, other vehicles M2 is the vehicle driven by automatic Pilot, and is someone's vehicle for taking passenger.Determination unit 141 is for example based on other The recognition result in vehicle identification portion 132 and be determined as other vehicles m2 and driven by automatic Pilot and taken passenger.

It is so-called by determination unit 141 be judged to not taking in this vehicle M passenger and the rear of this vehicle M exist taken The scene of other vehicles m2 by automatic Pilot of passenger is in the presence of the vehicle for coping with this vehicle M progress emergency deceleration Scene, and be that the vehicle copes with the emergency deceleration of this vehicle M and has an impact the field of (that is, feeling that riding comfort is poor) to passenger Scape.Therefore, it has taken and has multiplied being judged to not taking passenger in this vehicle M by determination unit 141 and existed at the rear of this vehicle M In the case where other vehicles m2 by automatic Pilot of visitor, working morphology determination section 142 determines the limitation of the acceleration and deceleration of this vehicle M It is set to working morphology (2).This vehicle M is able to carry out urgent acceleration as a result, and efficiency makes velocity variations well, therefore can contract It is short to the traveling time until destination.This vehicle M can implement other vehicles for without emergency deceleration and considering rear The traveling of m2.

[about the scene for being decided to be working morphology (4)]

Fig. 7 be show the acceleration of this vehicle M limitation be decided to be working morphology (4) scene an example figure.Figure In, m indicates other vehicles.In an example shown in Fig. 7, with Fig. 4~6 shown in the same manner as situation, this vehicle M is by automatic The vehicle for driving and being driven, and be not take the vehicle of passenger, therefore be determined as in this vehicle M not by determination unit 141 Take passenger.In an example shown in Fig. 7, this vehicle M front and have left distance from this vehicle M on the L1 of this lane There are other vehicles m1 for the position of Dx1, are determined as that there are other vehicles m1 in the front of this vehicle M by determination unit 141.In Fig. 7 Shown in an example, other vehicles m1 is the vehicle driven by automatic Pilot, and is someone's vehicle for taking passenger. Recognition result of the determination unit 141 for example based on other vehicle identification portions 132 and be determined as other vehicles m1 and pass through automatic Pilot It is driven and has taken passenger.

It is so-called by determination unit 141 be judged to not taking in this vehicle M passenger and the front of this vehicle M exist taken The scene of other vehicles m1 by automatic Pilot of passenger is to exist to cope with the vehicle that this vehicle M is promptly accelerated Scene, and be the urgent field for accelerating to have an impact passenger (that is, feeling that riding comfort is poor) that the vehicle copes with this vehicle M Scape.Therefore, it has taken and has multiplied being judged to not taking passenger in this vehicle M by determination unit 141 and existed in the front of this vehicle M In the case where other vehicles m1 by automatic Pilot of visitor, working morphology determination section 142 determines the limitation of the acceleration and deceleration of this vehicle M It is set to working morphology (4).This vehicle M is able to carry out emergency deceleration as a result, and efficiency makes velocity variations well, therefore can contract It is short to the traveling time until destination.This vehicle M can implement other vehicles for without promptly accelerating and considering front The traveling of m1.

[about the scene for being decided to be working morphology (3)]

Fig. 8 be show the acceleration of this vehicle M limitation be decided to be working morphology (3) scene an example figure.? In an example shown in Fig. 8, with Fig. 4~7 shown in the same manner as situation, this vehicle M is the vehicle driven by automatic Pilot, It and is not take the vehicle of passenger, therefore be judged to not taking passenger in this vehicle M by determination unit 141.Shown in Fig. 8 In an example, in the same manner as situation shown in Fig. 8, determination unit 141 is determined as that there are other vehicles m1 in the front of this vehicle M, and It is determined as that there are other vehicles m2 at the rear of this vehicle M.In an example shown in Fig. 8, other vehicles m1 and other vehicles m2 It is the vehicle driven by automatic Pilot, and is someone's vehicle for taking passenger.Determination unit 141 is for example based on other vehicles The recognition result of identification part 132 and be determined as other vehicles m1 and other vehicles m2 and driven and taken by automatic Pilot There is passenger.

It is so-called by determination unit 141 be judged to not taking in this vehicle M passenger and the periphery of this vehicle M exist taken The scene of other vehicles (being other vehicles m1~m2 in an example) by automatic Pilot of passenger is to exist to cope with This vehicle M carries out the scene of the vehicle of the influence of urgent acceleration and deceleration generation, and is the urgent acceleration and deceleration that the vehicle copes with this vehicle M The scene of (that is, feeling that riding comfort is poor) is had an impact to passenger.Therefore, do not taken in being determined as this vehicle M passenger and This vehicle M periphery exist take passenger by automatic Pilot other vehicles in the case where, working morphology determination section 142 It is working morphology (3) by the limit decision of the acceleration and deceleration of this vehicle M.This vehicle M is slightly able to carry out urgent acceleration and deceleration as a result, Efficiency makes velocity variations well, therefore can shorten to the traveling time until destination.

[about the scene for being decided to be working morphology (1)]

Fig. 9 be show the acceleration of this vehicle M limitation be decided to be working morphology (1) scene an example figure.? Different from situation shown in Fig. 4~8 in an example shown in Fig. 9, this vehicle M is the vehicle driven by automatic Pilot, but It is someone's vehicle to take passenger.Therefore, it is judged to having taken passenger in this vehicle M by determination unit 141.

The so-called scene for being judged to taking passenger in this vehicle M by determination unit 141 is to carry out promptly adding because of this vehicle M Slow down and have an impact to the passenger taken in this vehicle M the scene of (that is, feeling that riding comfort is poor).Therefore, in this vehicle M In taken passenger in the case where, even if the situation on periphery is that working morphology can be determined as to the scene (example of (2)~(5) etc. Such as, the scene of other vehicles is not present on the periphery of this vehicle M as shown in Figure), working morphology determination section 142 is also by this vehicle The limit decision of the acceleration and deceleration of M is working morphology (1).This vehicle M can be until destination without promptly adding and subtracting as a result, Travel fastly, it can be considered that take in this vehicle M passenger it is mobile.

Then, other scenes for being decided to be working morphology (1) to the limitation of the acceleration of this vehicle M are illustrated.Figure 10 be show the acceleration of this vehicle M limitation be decided to be working morphology (1) scene another figure.Shown in Figure 10 An example in, with Fig. 4~8 shown in the same manner as situation, this vehicle M is the vehicle driven by automatic Pilot, is not take The vehicle of passenger, therefore be judged to not taking passenger in this vehicle M by determination unit 141.In an example shown in Fig. 10, In the same manner as situation shown in Fig. 8, determination unit 141 is determined as that there are other vehicles m1 in the front of this vehicle M, and is determined as There are other vehicles m2 at the rear of this vehicle M.In an example shown in Fig. 10, other vehicles m1 and other vehicles m2 are to pass through hand The vehicle for driving and being driven is moved, and is someone's vehicle for taking passenger.Determination unit 141 is for example based on other vehicle identification portions 132 recognition result and be determined as that other vehicles m1 and other vehicles m2 are driven by manual drive and taken passenger.

So-called other vehicles being determined to have by determination unit 141 in the periphery of this vehicle M (are other in an example Vehicle m1~m2) scene that is driven by manual drive is due to being difficult to imagine the movement of other vehicles, so this vehicle M carries out the scene of urgent acceleration and deceleration difficulty.Therefore, pass through manual drive in other vehicles for being present in the periphery of this vehicle M In the case where driving, the limit decision of the acceleration and deceleration of this vehicle M is working morphology (1) by working morphology determination section 142.By This, this vehicle M can be travelled until destination without urgent acceleration and deceleration, be able to suppress this vehicle M and other vehicles into Row contact.

[planning about traveling]

Here, being and work by the limit decision of the acceleration and deceleration of this vehicle M in working morphology determination section 142 as described above In the case where making form (1) compared to working morphology (2)~(5) for keeping the limitation of acceleration and deceleration loose, this vehicle M is determined by keeping Fixed working morphology (2)~(5), so as to further shorten traveling time.Therefore, automatic Pilot control device 100 generates The traveling plan that can be travelled in the state of keeping working morphology (2)~(5).Specifically, path determination section 53, recommendation vehicle Road determination section 61 is based on the first cartographic information 54, the second cartographic information 62, road information, traffic restricted information or residence letter (residence, postcode) etc. is ceased, to determine the few map upper pathway of the volume of traffic of other vehicles, recommend lane.Path determination section 53, recommend lane determination section 61 be based on the first cartographic information 54, the second cartographic information 62, road information, traffic restricted information or Person residence information (residence, postcode) etc., to determine the low map upper pathway of the frequency of left and right turning, recommend lane.Recommend Lane determination section 61 is an example of " traveling plan generating unit ".

[position present in other vehicles]

In the above content, other vehicles identified by other vehicle identification portions 132 are present in the feelings of this lane L1 Condition is illustrated, and but not limited thereto.It is also possible to be present in phase by other vehicles that other vehicle identification portions 132 identify Other vehicles of adjacent lane L2.Other vehicle identification portions 132 can be possible to being changed by lane in this lane L1 as a result, The vehicle (that is, other vehicles for being present in adjacent lane L2) of upper traveling is identified that automatic Pilot control device 100 can be right The traveling for considering other vehicles is controlled.

[process flow]

Hereinafter, process for using figure to a series of process of the processing of the automatic Pilot control device 100 of embodiment into Row explanation.Figure 11 is an example for showing a series of process of processing of automatic Pilot control device 100 involved in embodiment Flow chart.The processing of this flow chart is for example repeated with the defined period.

First, it is determined that recognition result of the portion 141 based on passenger identification part 131, determines whether taken passenger in this vehicle M (step S100).In the case where the judgement result of determination unit 141 indicates to have taken passenger's (that is, being someone) in this vehicle M, work The limit decision for making acceleration and deceleration of the form determination section 142 by this vehicle M is working morphology (1) (step S102).Then, in this vehicle In the case where not taking passenger (that is, being nobody) in M, determination unit 141 further determines whether there is on the periphery of this vehicle M Other vehicles (step S104).In the case where other vehicles are not present in the periphery of this vehicle M, working morphology determination section 142 will The limit decision of the acceleration and deceleration of this vehicle M is working morphology (5) (step S106).Then, it is deposited on the periphery of this vehicle M showing In the case where other vehicles, determination unit 141 further determines whether other vehicles are by the vehicle (step of automatic Pilot S108)。

It is not the vehicle by automatic Pilot (that is, being by manual drive in other vehicles for being present in the periphery of this vehicle M Vehicle) in the case where, the limit decision of the acceleration and deceleration of this vehicle M is working morphology (1) (step by working morphology determination section 142 S102).Then, in the case where being present in other vehicles on the periphery of this vehicle M is the vehicle by automatic Pilot, determination unit 141 further determine in other vehicles whether taken passenger (step S110).Be present in the periphery of this vehicle M quilt from In the case that dynamic other vehicles driven do not take passenger (that is, being nobody), working morphology determination section 142 adds this vehicle M's The limit decision of speed is working morphology (5) (step S106).Then, be present in the periphery of this vehicle M by automatic Pilot Other vehicles taken passenger in the case where, determination unit 141 further determine other vehicles whether there is in front and after This two side (step S112) of side.Be present in the periphery of this vehicle M taken by other vehicles of automatic Pilot passenger and should In the case that other vehicles are present in front and this two side of rear of this vehicle M, working morphology determination section 142 is by this vehicle M's The limit decision of acceleration is working morphology (3) (step S114).

Then, passenger and other vehicles have been taken by other vehicles of automatic Pilot be present in the periphery of this vehicle M In the case where front and this two side of rear for being not present in this vehicle M, determination unit 141 further determines that other vehicles are to deposit Which side (the step S116) being in front and back.In other vehicles by automatic Pilot for being present in the periphery of this vehicle M Take passenger and in the case that other vehicles are present in the rear of this vehicle M, working morphology determination section 142 is by this vehicle The limit decision of the acceleration of M is working morphology (2) (step S118).It is being present in being driven automatically for the periphery of this vehicle M In the case that other vehicles sailed take passenger and other vehicles are present in the front of this vehicle M, working morphology determination section 142 by the limit decision of the acceleration of this vehicle M be working morphology (4) (step S120).

[summary of embodiment]

As described above, the automatic Pilot control device 100 of present embodiment has: identification part 130, identification The situation on the periphery of this vehicle M；And drive control section (is action plan generating unit 140 and the second control unit in an example 160) one or both in the steering and acceleration and deceleration of this vehicle M, is controlled based on the recognition result of identification part 130, is driven Control unit determines the working morphology of the control of acceleration and deceleration, energy based on the state of other vehicles on the periphery for being present in this vehicle M It is enough that urgent acceleration and deceleration are carried out according to the presence or absence of passenger of vehicle and shorten traveling time.

[about the decision based on the working morphology at a distance from other vehicles]

In the above content, it illustrates not taking passenger in being determined as this vehicle M and exist on the periphery of this vehicle M In the case where other vehicles by automatic Pilot for taking passenger, working morphology determination section 142 is by the acceleration and deceleration of this vehicle M The case where limit decision is any operative form in working morphology (2)~(5), but not limited thereto.Working morphology determination section 142 for example can also according to other vehicles on the periphery for being present in this vehicle M at a distance from this vehicle M, come periodically or The upper limit of acceleration and deceleration is changed linearly.For example, working morphology determination section 142 makes the upper of acceleration and deceleration in the case where distance Dx1 is short Limit value (that is, the upper limit accelerated) is tightened up, and in the case where distance Dx1 long, working morphology determination section 142 makes the upper limit of acceleration and deceleration Value is looser, and in the case where distance Dx2 is short, working morphology determination section 142 makes the lower limit value (that is, the lower limit accelerated) of acceleration and deceleration Tightened up, in the case where distance Dx2 long, working morphology determination section 142 keeps the lower limit value of acceleration and deceleration looser.

[identification range about identification part 130]

Hereinafter, being illustrated to the identification range of identification part 130 corresponding with working morphology.Figure 12 is to show identification part The figure of an example of 130 identification range.In the case where working morphology (1), since the limitation of acceleration is stringent, having can Can need the time until this vehicle M stops, but in contrast, in the case where working morphology (2)~(5), due to work Form (1) is loose compared to the limitation of acceleration, therefore can shorten to this vehicle M compared with the case where working morphology (1) and stop The required time until only.Therefore, in the case where working morphology (2)~(5), even if on the moving direction of this vehicle M In the presence of object etc. is run out of suddenly, can also be stopped with the short time.Therefore, identification part 130 can also be in the acceleration and deceleration of this vehicle M It is limited under working morphology (2)~(5), makes identification of the identification range than working morphology (1) for identifying the surrounding condition of this vehicle M Narrow range.Identification part 130 for example can radiate putting for electric wave by coverage captured by constriction camera 10, radar installations 12 The range of exposures for penetrating 14 irradiation light of range or detector carrys out constriction identification range, can also be by increasing involved in identification Threshold value (that is, identification is made to become difficult) carrys out constriction identification range, can also be by using one in the result of the identification range obtained The result of the partial range range of constriction (that is) carrys out the range of constriction identification.

Identification part 130 is for example by the identification range (the following are front identification range AR1) in the front of this vehicle M and work shape State is correspondingly changed to 4 kinds of ranges (front identification range AR1a~AR1d of diagram), by the identification range at the rear of this vehicle M (the following are rear identification range AR2) and working morphology be correspondingly changed to 3 kinds of ranges (the rear identification range AR2a of diagram~ AR2d).As shown, front identification range AR1d and rear identification range AR2d are most narrow identification ranges, front identifies model It encloses AR1c and rear identification range AR2c is the relatively narrow identification range that takes second place, front identification range AR1b and rear identification range AR2b is the relatively narrow identification range that further takes second place, and front identification range AR1a and rear identification range AR2a are widest identification Range.

In the acceleration and deceleration of this vehicle M in the case where being limited to working morphology (1), identification part 130 makes front identification range AR1 is front identification range AR1a, and makes the rear rear identification range AR2 identification range AR2a.In the acceleration and deceleration of this vehicle M Be limited to working morphology (2) in the case where, identification part 130 makes front identification range AR1 front identification range AR1c, and makes Rear identification range AR2 is rear identification range AR2a.In the case where being limited to working morphology (3) of acceleration and deceleration of this vehicle M Under, identification part 130 makes front identification range AR1 front identification range AR1b, and identifies the rear rear identification range AR2 Range AR2b.In the acceleration and deceleration of this vehicle M in the case where being limited to working morphology (4), identification part 130 makes front identification range AR1 is front identification range AR1a, and makes the rear rear identification range AR2 identification range AR2c.In the acceleration and deceleration of this vehicle M Be limited to working morphology (5) in the case where, identification part 130 makes front identification range AR1 front identification range AR1d, and makes Rear identification range AR2 is rear identification range AR2d.

Automatic Pilot control device 100 is by the identification range with working morphology correspondingly constriction identification part 130 as a result, It is able to suppress electric power involved in the processing of the surrounding condition of identification this vehicle M.The case where this vehicle M is by motor drive Under, electric power involved in the processing by the surrounding condition of inhibition identification this vehicle M is able to extend the distance that can be travelled.

[hardware configuration]

Figure 13 is the figure for showing an example of the hardware configuration of automatic Pilot control device 100 of embodiment.As shown, The RAM100- that it communication controler 100-1, CPU100-2 that automatic Pilot control device 100, which becomes, is used as working storage 3, storage devices 100-5, the driving device 100-6 such as the ROM100-4, flash memories, HDD of bootstrap etc. etc. are saved and passes through inside Bus or private communication line and the structure being connected with each other.Communication controler 100-1 is carried out and automatic Pilot control device The communication of constituent element other than 100.Program 100-5a performed by CPU100-2 is preserved in storage device 100-5.The journey Sequence is unfolded by DMA (Direct Memory Access) controller (not shown) etc. to RAM100-3, is held by CPU100-2 Row.Part or all in first control units 120 and the second control unit 160 is implemented as a result,.

Foregoing describe embodiment can show as described below.

A kind of controller of vehicle, has:

Store the storage device of program；And

Processor,

The processor is configured to, and is handled as follows by executing described program:

Identify the situation on the periphery of this vehicle；

One or both in the steering and acceleration and deceleration of this vehicle is controlled based on the result of the identification；And

The work of the control of the acceleration and deceleration is determined based on the state of other vehicles on the periphery for being present in described vehicle Make form.

Embodiment used above illustrates a specific embodiment of the invention, but the present invention is not at all by such implementation Mode limits, and can apply various modifications and replacement without departing from the spirit and scope of the invention.

Claims (12)

1. a kind of controller of vehicle, wherein

The controller of vehicle has:

Identification part identifies the situation on the periphery of this vehicle；And

Drive control section, controlled based on the recognition result of the identification part side in the steering and acceleration and deceleration of this vehicle or Both sides,

Identifying that the drive control section is without institute in the case where having taken passenger in described vehicle by the identification part The decision for stating the working morphology of the control of acceleration and deceleration is being identified the feelings for not taking passenger in described vehicle by the identification part Under condition, other vehicles of the drive control section based on the periphery for being present in described vehicle identified by the identification part State determines the working morphology of the control of the acceleration and deceleration.

2. controller of vehicle according to claim 1, wherein

In the case where identifying that other described vehicles are automatic driving vehicles by the identification part, identified with by the identification part The case where other described vehicles are not automatic driving vehicles out is compared, and the drive control section makes the working morphology is described to add The loose working morphology of the limitation of deceleration.

3. controller of vehicle according to claim 1, wherein

In the case where identifying that other described vehicles are automatic driving vehicles by the identification part, the drive control section is based on Whether identified by the identification part and has taken passenger in other described vehicles to determine the working morphology.

4. controller of vehicle according to claim 3, wherein

In the case where identifying that other described vehicles are automatic driving vehicles by the identification part, identified by the identification part When not taking passenger in other described vehicles out, compared with when having taken passenger in other described vehicles, the drive control section The working morphology for keeping the limitation of the working morphology acceleration and deceleration loose.

5. controller of vehicle according to claim 1, wherein

In the case where identifying other vehicles described in the periphery of described vehicle is not present by the identification part, the driving The working morphology that control unit keeps the limitation of the working morphology acceleration and deceleration most loose.

6. controller of vehicle according to claim 1, wherein

The controller of vehicle is also equipped with traveling plan generating unit, which generates preferentially on following path The traveling plan of traveling, the path are the paths that can be travelled with the loose working morphology of the limitation of the acceleration and deceleration,

The drive control section controls described vehicle based on the traveling plan generated by the traveling plan generating unit.

7. controller of vehicle according to claim 6, wherein

The path that the traveling plan generating unit preferentially selects the quantity of other vehicles few.

8. controller of vehicle according to claim 6, wherein

The low path of the frequency that the traveling plan generating unit preferentially selects left and right to turn.

9. controller of vehicle according to claim 1, wherein

In the case where just being controlled by the drive control section with the loose working morphology of limitation of the acceleration and deceleration, and not The case where being controlled by the drive control section with the loose working morphology of the limitation of the acceleration and deceleration is compared, the identification part Inhibit identifying processing.

10. a kind of controller of vehicle, wherein

The controller of vehicle has:

Identification part identifies the situation on the periphery of this vehicle；And

Drive control section, controlled based on the recognition result of the identification part side in the steering and acceleration and deceleration of this vehicle or Both sides,

In the case where just controlling acceleration and deceleration by the drive control section with the loose working morphology of the limitation of the acceleration and deceleration, with The case where not controlling acceleration and deceleration by the drive control section with the loose working morphology of the limitation of the acceleration and deceleration is compared, the knowledge Other portion inhibits identifying processing.

11. a kind of control method for vehicle, wherein

Controller of vehicle is handled as follows in the control method for vehicle:

Identify the situation on the periphery of this vehicle；

One or both in the steering and acceleration and deceleration of this vehicle is controlled based on the result of the identification；And

In the case where having taken passenger in identifying described vehicle, the working morphology of the control without the acceleration and deceleration It determines, in the case where not taking passenger in identifying described vehicle, based on the week for being present in described vehicle identified The state of other vehicles on side determines the working morphology of the control of the acceleration and deceleration.

12. a kind of storage medium, wherein

The storage medium is computer-readable non-transitory storage medium, and being stored with carries out controller of vehicle such as The content of lower processing:

Identify the situation on the periphery of this vehicle；

One or both in the steering and acceleration and deceleration of this vehicle is controlled based on the result of the identification；And

In the case where having taken passenger in identifying described vehicle, the working morphology of the control without the acceleration and deceleration It determines, in the case where not taking passenger in identifying described vehicle, based on the week for being present in described vehicle identified The state of other vehicles on side determines the working morphology of the control of the acceleration and deceleration.